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We focus on a formal treatment of both integrity and denial of service attacks to sensors and actuators of CPSs, and on the timing aspects of these attacks. Our contributions are fourfold. (1)\u00a0We define a hybrid process calculus to model both CPSs and physics-based attacks. (2)\u00a0We formalise a threat model that specifies MITM attacks that can manipulate sensor readings or control commands to drive a CPS into an undesired state; we group these attacks into classes and provide the means to assess attack tolerance\/vulnerability with respect to a given class of attacks, based on a proper notion of most powerful physics-based attack. (3)\u00a0We formalise how to estimate the impact of a successful attack on a CPS and investigate possible quantifications of the success chances of an attack. (4)\u00a0We illustrate our definitions and results by formalising a non-trivial running example in U\n            <jats:sc>PPAAL<\/jats:sc>\n            SMC, the statistical extension of the U\n            <jats:sc>PPAAL<\/jats:sc>\n            model checker; we use U\n            <jats:sc>PPAAL<\/jats:sc>\n            SMC as an automatic tool for carrying out a static security analysis of our running example in isolation and when exposed to three different physics-based attacks with different impacts.\n          <\/jats:p>","DOI":"10.1145\/3373270","type":"journal-article","created":{"date-parts":[[2020,4,4]],"date-time":"2020-04-04T07:59:17Z","timestamp":1585987157000},"page":"1-41","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":45,"title":["A Formal Approach to Physics-based Attacks in Cyber-physical Systems"],"prefix":"10.1145","volume":"23","author":[{"given":"Ruggero","family":"Lanotte","sequence":"first","affiliation":[{"name":"Universit\u00e0 degli Studi dell\u2019Insubria, Como, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Massimo","family":"Merro","sequence":"additional","affiliation":[{"name":"Universit\u00e0 degli Studi di Verona, Verona, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrei","family":"Munteanu","sequence":"additional","affiliation":[{"name":"Universit\u00e0 degli Studi di Verona, Verona, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9916-271X","authenticated-orcid":false,"given":"Luca","family":"Vigan\u00f2","sequence":"additional","affiliation":[{"name":"King\u2019s College London, London, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2020,2,5]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijcip.2010.09.001"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compind.2018.04.017"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/0304-3975(94)00202-t"},{"key":"e_1_2_1_4_1","volume-title":"Lectures on Runtime Verification\u2014Introductory and Advanced Topics","author":"Bartocci Ezio","unstructured":"Ezio Bartocci , Jyotirmoy Deshmukh , Alexandre Donz\u00e9 , Georgios Fainekos , Oded Maler , Dejan Ni\u010dkovi\u0107 , and Sriram Sankaranarayanan . 2018. 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